\begin{tabular}{c | c | c}
{\bf Benchmark} & {\bf Easy} & {\bf Moderate} & {\bf Hard}\\ \hline
Car (Detection) & 91.02 \% & 82.77 \% & 71.66 \%\\
Car (Orientation) & 90.90 \% & 82.54 \% & 71.37 \%\\
Car (3D Detection) & 29.12 \% & 20.88 \% & 17.93 \%\\
Car (Bird's Eye View) & 37.85 \% & 28.06 \% & 24.53 \%\\
Pedestrian (Detection) & 73.25 \% & 55.19 \% & 50.19 \%\\
Pedestrian (Orientation) & 68.08 \% & 50.76 \% & 45.95 \%\\
Pedestrian (3D Detection) & 17.45 \% & 11.70 \% & 10.05 \%\\
Pedestrian (Bird's Eye View) & 18.63 \% & 12.70 \% & 11.06 \%\\
Cyclist (Detection) & 59.04 \% & 39.69 \% & 34.04 \%\\
Cyclist (Orientation) & 51.00 \% & 34.13 \% & 29.36 \%\\
Cyclist (3D Detection) & 7.32 \% & 4.62 \% & 4.23 \%\\
Cyclist (Bird's Eye View) & 9.21 \% & 5.92 \% & 5.30 \%
\end{tabular}